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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::registration::CorrespondenceRejectorFeatures类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html" title="CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature...">CorrespondenceRejectorFeatures</a> implements a correspondence rejection method based on a set of feature descriptors. Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space.  
 <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="correspondence__rejection__features_8h_source.html">correspondence_rejection_features.h</a>&gt;</code></p>
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类 pcl::registration::CorrespondenceRejectorFeatures 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. This class extends <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">FeatureContainerInterface</a>, which contains abstract methods for any methods that do not depend on the FeatureT &mdash; these methods can thus be called from a pointer to <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">FeatureContainerInterface</a> without casting to the derived class.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">FeatureContainerInterface</a></td></tr>
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Public 类型</h2></td></tr>
<tr class="memitem:a2b0ff437cb1774a3cb5362906def55d1"><td class="memItemLeft" align="right" valign="top"><a id="a2b0ff437cb1774a3cb5362906def55d1"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html">CorrespondenceRejectorFeatures</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a2b0ff437cb1774a3cb5362906def55d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95effb00e10631e7825e5b37285ce1dc"><td class="memItemLeft" align="right" valign="top"><a id="a95effb00e10631e7825e5b37285ce1dc"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html">CorrespondenceRejectorFeatures</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a192578d5c6faa199b6137f7052ebe3bd"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a364a36b29c665856a1819d7a42cf5154"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a174740d3c2fc148de02786f973400358"><td class="memItemLeft" align="right" valign="top"><a id="a174740d3c2fc148de02786f973400358"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a174740d3c2fc148de02786f973400358">CorrespondenceRejectorFeatures</a> ()</td></tr>
<tr class="memdesc:a174740d3c2fc148de02786f973400358"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a174740d3c2fc148de02786f973400358"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abde5395e3dc6b27a1e876be81b981787"><td class="memItemLeft" align="right" valign="top"><a id="abde5395e3dc6b27a1e876be81b981787"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#abde5395e3dc6b27a1e876be81b981787">~CorrespondenceRejectorFeatures</a> ()</td></tr>
<tr class="memdesc:abde5395e3dc6b27a1e876be81b981787"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:abde5395e3dc6b27a1e876be81b981787"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a165aeb9ae326d7114847d65f18213c58"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">getRemainingCorrespondences</a> (const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</td></tr>
<tr class="memdesc:a165aeb9ae326d7114847d65f18213c58"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of valid correspondences after rejection from the original set of correspondences  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">更多...</a><br /></td></tr>
<tr class="separator:a165aeb9ae326d7114847d65f18213c58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabbb12af16267894e64560b6e1247530"><td class="memTemplParams" colspan="2">template&lt;typename FeatureT &gt; </td></tr>
<tr class="memitem:aabbb12af16267894e64560b6e1247530"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">setSourceFeature</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr &amp;source_feature, const std::string &amp;key)</td></tr>
<tr class="memdesc:aabbb12af16267894e64560b6e1247530"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a cloud of feature descriptors associated with the source point cloud  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">更多...</a><br /></td></tr>
<tr class="separator:aabbb12af16267894e64560b6e1247530"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45f34ad878a27bd9e95f8937fe1dea6c"><td class="memTemplParams" colspan="2">template&lt;typename FeatureT &gt; </td></tr>
<tr class="memitem:a45f34ad878a27bd9e95f8937fe1dea6c"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">getSourceFeature</a> (const std::string &amp;key)</td></tr>
<tr class="memdesc:a45f34ad878a27bd9e95f8937fe1dea6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the source cloud's feature descriptors, specified by the given <em>key</em>  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">更多...</a><br /></td></tr>
<tr class="separator:a45f34ad878a27bd9e95f8937fe1dea6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55588e97f86b8fc175db8e06680c747b"><td class="memTemplParams" colspan="2">template&lt;typename FeatureT &gt; </td></tr>
<tr class="memitem:a55588e97f86b8fc175db8e06680c747b"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">setTargetFeature</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr &amp;target_feature, const std::string &amp;key)</td></tr>
<tr class="memdesc:a55588e97f86b8fc175db8e06680c747b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a cloud of feature descriptors associated with the target point cloud  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">更多...</a><br /></td></tr>
<tr class="separator:a55588e97f86b8fc175db8e06680c747b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae2c2a6e70f55d27d308cadee3363832f"><td class="memTemplParams" colspan="2">template&lt;typename FeatureT &gt; </td></tr>
<tr class="memitem:ae2c2a6e70f55d27d308cadee3363832f"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">getTargetFeature</a> (const std::string &amp;key)</td></tr>
<tr class="memdesc:ae2c2a6e70f55d27d308cadee3363832f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the source cloud's feature descriptors, specified by the given <em>key</em>  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">更多...</a><br /></td></tr>
<tr class="separator:ae2c2a6e70f55d27d308cadee3363832f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77de8e5bf2c5b2b914fba7db0694b3c2"><td class="memTemplParams" colspan="2">template&lt;typename FeatureT &gt; </td></tr>
<tr class="memitem:a77de8e5bf2c5b2b914fba7db0694b3c2"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">setDistanceThreshold</a> (double thresh, const std::string &amp;key)</td></tr>
<tr class="memdesc:a77de8e5bf2c5b2b914fba7db0694b3c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a hard distance threshold in the feature <em>FeatureT</em> space, between source and target features. Any feature correspondence that is above this threshold will be considered bad and will be filtered out.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">更多...</a><br /></td></tr>
<tr class="separator:a77de8e5bf2c5b2b914fba7db0694b3c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a145abbc175dcab4a0b1137200ba48b45"><td class="memItemLeft" align="right" valign="top"><a id="a145abbc175dcab4a0b1137200ba48b45"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a145abbc175dcab4a0b1137200ba48b45">hasValidFeatures</a> ()</td></tr>
<tr class="memdesc:a145abbc175dcab4a0b1137200ba48b45"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method) <br /></td></tr>
<tr class="separator:a145abbc175dcab4a0b1137200ba48b45"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f25697b8b0305046a0720bf25b7b3a0"><td class="memTemplParams" colspan="2">template&lt;typename FeatureT &gt; </td></tr>
<tr class="memitem:a2f25697b8b0305046a0720bf25b7b3a0"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">setFeatureRepresentation</a> (const typename <a class="el" href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a>&lt; FeatureT &gt;::ConstPtr &amp;fr, const std::string &amp;key)</td></tr>
<tr class="memdesc:a2f25697b8b0305046a0720bf25b7b3a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a boost shared pointer to a <a class="el" href="classpcl_1_1_point_representation.html" title="PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...">PointRepresentation</a> to be used when comparing features  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">更多...</a><br /></td></tr>
<tr class="separator:a2f25697b8b0305046a0720bf25b7b3a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aece0e22dd156eaacff20b45069036483"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a6cbaada1584e194daaad3fd0c2d4aee8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">~CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">setInputCorrespondences</a> (const CorrespondencesConstPtr &amp;correspondences)</td></tr>
<tr class="memdesc:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">更多...</a><br /></td></tr>
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<tr class="memitem:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">getInputCorrespondences</a> ()</td></tr>
<tr class="memdesc:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">更多...</a><br /></td></tr>
<tr class="separator:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">getCorrespondences</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence rejection  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">更多...</a><br /></td></tr>
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<tr class="memitem:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">getRejectedQueryIndices</a> (const pcl::Correspondences &amp;correspondences, std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via <em>setInputCorrespondences</em>) and the given correspondence vector.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">更多...</a><br /></td></tr>
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<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:a7439b7434309abe4fc65eac56285b8f4 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a7439b7434309abe4fc65eac56285b8f4"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a7439b7434309abe4fc65eac56285b8f4">requiresSourcePoints</a> () const</td></tr>
<tr class="memdesc:a7439b7434309abe4fc65eac56285b8f4 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source points <br /></td></tr>
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<tr class="memitem:a469e6e818a18248b555be3bf1807d512 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a469e6e818a18248b555be3bf1807d512"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a469e6e818a18248b555be3bf1807d512">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a469e6e818a18248b555be3bf1807d512 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the source cloud <br /></td></tr>
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<tr class="memitem:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a08f07ed59490ee2c5d01a99d5589e306"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">requiresSourceNormals</a> () const</td></tr>
<tr class="memdesc:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source normals <br /></td></tr>
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<tr class="memitem:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a2f61f392a8d0c3da5502949cb22bba7d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the source normals <br /></td></tr>
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<tr class="memitem:ab16b39f3fe0d01fb433a2518a793ad33 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab16b39f3fe0d01fb433a2518a793ad33"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab16b39f3fe0d01fb433a2518a793ad33">requiresTargetPoints</a> () const</td></tr>
<tr class="memdesc:ab16b39f3fe0d01fb433a2518a793ad33 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires a target cloud <br /></td></tr>
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<tr class="memitem:aefefab8fbee5d140bbdb342b6a97e954 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aefefab8fbee5d140bbdb342b6a97e954"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aefefab8fbee5d140bbdb342b6a97e954">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:aefefab8fbee5d140bbdb342b6a97e954 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the target cloud <br /></td></tr>
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<tr class="memitem:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab3afeffa725f643d1ebc3c0545ea05be"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">requiresTargetNormals</a> () const</td></tr>
<tr class="memdesc:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires target normals <br /></td></tr>
<tr class="separator:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a4bbb67f5066c674eba95b440bb4fd03a"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the target normals <br /></td></tr>
<tr class="separator:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:af9fc1e7039fe0dcababe4d6d018ca5d0"><td class="memItemLeft" align="right" valign="top"><a id="af9fc1e7039fe0dcababe4d6d018ca5d0"></a>
typedef boost::unordered_map&lt; std::string, boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_interface.html">FeatureContainerInterface</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>FeaturesMap</b></td></tr>
<tr class="separator:af9fc1e7039fe0dcababe4d6d018ca5d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a5b0f8c3768a14e5d0d398856babab7dd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a5b0f8c3768a14e5d0d398856babab7dd">applyRejection</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a5b0f8c3768a14e5d0d398856babab7dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the rejection algorithm.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a5b0f8c3768a14e5d0d398856babab7dd">更多...</a><br /></td></tr>
<tr class="separator:a5b0f8c3768a14e5d0d398856babab7dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a0a544016dcac95c834bee6cd0e7aaf33"><td class="memItemLeft" align="right" valign="top"><a id="a0a544016dcac95c834bee6cd0e7aaf33"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a0a544016dcac95c834bee6cd0e7aaf33">max_distance_</a></td></tr>
<tr class="memdesc:a0a544016dcac95c834bee6cd0e7aaf33"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum distance threshold between two correspondent points in source &lt;-&gt; target. If the distance is larger than this threshold, the points will not be ignored in the alignment process. <br /></td></tr>
<tr class="separator:a0a544016dcac95c834bee6cd0e7aaf33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f76384a2a270cbf2822287dc91fdc32"><td class="memItemLeft" align="right" valign="top"><a id="a6f76384a2a270cbf2822287dc91fdc32"></a>
FeaturesMap&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a></td></tr>
<tr class="memdesc:a6f76384a2a270cbf2822287dc91fdc32"><td class="mdescLeft">&#160;</td><td class="mdescRight">An STL map containing features to use when performing the correspondence search. <br /></td></tr>
<tr class="separator:a6f76384a2a270cbf2822287dc91fdc32"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
<tr class="separator:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
<tr class="separator:a74d516ca516f7421fd86a53dec1a57b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html" title="CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature...">CorrespondenceRejectorFeatures</a> implements a correspondence rejection method based on a set of feature descriptors. Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space. </p>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000030">待办事项:</a></b></dt><dd>explain this better. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a5b0f8c3768a14e5d0d398856babab7dd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5b0f8c3768a14e5d0d398856babab7dd">&#9670;&nbsp;</a></span>applyRejection()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorFeatures::applyRejection </td>
          <td>(</td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em></td><td>)</td>
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<p>Apply the rejection algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the set of resultant correspondences. </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">pcl::registration::CorrespondenceRejector</a>.</p>
<div class="fragment"><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a165aeb9ae326d7114847d65f18213c58"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a165aeb9ae326d7114847d65f18213c58">pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorFeatures::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a165aeb9ae326d7114847d65f18213c58">&#9670;&nbsp;</a></span>getRemainingCorrespondences()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences </td>
          <td>(</td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>original_correspondences</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>remaining_correspondences</em>&#160;</td>
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<p>Get a list of valid correspondences after rejection from the original set of correspondences </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">original_correspondences</td><td>the set of initial correspondences given </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">remaining_correspondences</td><td>the resultant filtered set of remaining correspondences </td></tr>
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  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">pcl::registration::CorrespondenceRejector</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a45f34ad878a27bd9e95f8937fe1dea6c">&#9670;&nbsp;</a></span>getSourceFeature()</h2>

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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature </td>
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<p>Get a pointer to the source cloud's feature descriptors, specified by the given <em>key</em> </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">key</td><td>a string that uniquely identifies the feature (must match the key provided by setSourceFeature) </td></tr>
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<div class="fragment"><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> (boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;const FeatureT&gt;</a> &gt; ());</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> (boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">getSourceFeature</a> ());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a45f34ad878a27bd9e95f8937fe1dea6c"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature</a></div><div class="ttdeci">pcl::PointCloud&lt; FeatureT &gt;::ConstPtr getSourceFeature(const std::string &amp;key)</div><div class="ttdoc">Get a pointer to the source cloud's feature descriptors, specified by the given key</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a6f76384a2a270cbf2822287dc91fdc32"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">pcl::registration::CorrespondenceRejectorFeatures::features_map_</a></div><div class="ttdeci">FeaturesMap features_map_</div><div class="ttdoc">An STL map containing features to use when performing the correspondence search.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:167</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae2c2a6e70f55d27d308cadee3363832f">&#9670;&nbsp;</a></span>getTargetFeature()</h2>

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template&lt;typename FeatureT &gt; </div>
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<p>Get a pointer to the source cloud's feature descriptors, specified by the given <em>key</em> </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">key</td><td>a string that uniquely identifies the feature (must match the key provided by setTargetFeature) </td></tr>
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<div class="fragment"><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;{</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">return</span> (boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> &gt; ());</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> (boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">getTargetFeature</a> ());</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_ae2c2a6e70f55d27d308cadee3363832f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature</a></div><div class="ttdeci">pcl::PointCloud&lt; FeatureT &gt;::ConstPtr getTargetFeature(const std::string &amp;key)</div><div class="ttdoc">Get a pointer to the source cloud's feature descriptors, specified by the given key</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:75</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a77de8e5bf2c5b2b914fba7db0694b3c2">&#9670;&nbsp;</a></span>setDistanceThreshold()</h2>

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<p>Set a hard distance threshold in the feature <em>FeatureT</em> space, between source and target features. Any feature correspondence that is above this threshold will be considered bad and will be filtered out. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">thresh</td><td>the distance threshold </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">key</td><td>a string that uniquely identifies the feature </td></tr>
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<div class="fragment"><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key].reset (<span class="keyword">new</span> FeatureContainer&lt;FeatureT&gt;);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">setDistanceThreshold</a> (thresh);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a77de8e5bf2c5b2b914fba7db0694b3c2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(double thresh, const std::string &amp;key)</div><div class="ttdoc">Set a hard distance threshold in the feature FeatureT space, between source and target features....</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:85</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2f25697b8b0305046a0720bf25b7b3a0">&#9670;&nbsp;</a></span>setFeatureRepresentation()</h2>

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          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a>&lt; FeatureT &gt;::ConstPtr &amp;&#160;</td>
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<p>Provide a boost shared pointer to a <a class="el" href="classpcl_1_1_point_representation.html" title="PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...">PointRepresentation</a> to be used when comparing features </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">key</td><td>a string that uniquely identifies the feature </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">fr</td><td>the point feature representation to be used </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key].reset (<span class="keyword">new</span> FeatureContainer&lt;FeatureT&gt;);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">setFeatureRepresentation</a> (fr);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a2f25697b8b0305046a0720bf25b7b3a0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation</a></div><div class="ttdeci">void setFeatureRepresentation(const typename pcl::PointRepresentation&lt; FeatureT &gt;::ConstPtr &amp;fr, const std::string &amp;key)</div><div class="ttdoc">Provide a boost shared pointer to a PointRepresentation to be used when comparing features</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:97</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aabbb12af16267894e64560b6e1247530">&#9670;&nbsp;</a></span>setSourceFeature()</h2>

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          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>source_feature</em>, </td>
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<p>Provide a pointer to a cloud of feature descriptors associated with the source point cloud </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">source_feature</td><td>a cloud of feature descriptors associated with the source point cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">key</td><td>a string that uniquely identifies the feature </td></tr>
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<div class="fragment"><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key].reset (<span class="keyword">new</span> FeatureContainer&lt;FeatureT&gt;);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">setSourceFeature</a> (source_feature);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_aabbb12af16267894e64560b6e1247530"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature</a></div><div class="ttdeci">void setSourceFeature(const typename pcl::PointCloud&lt; FeatureT &gt;::ConstPtr &amp;source_feature, const std::string &amp;key)</div><div class="ttdoc">Provide a pointer to a cloud of feature descriptors associated with the source point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:45</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a55588e97f86b8fc175db8e06680c747b">&#9670;&nbsp;</a></span>setTargetFeature()</h2>

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template&lt;typename FeatureT &gt; </div>
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          <td class="memname">void pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; FeatureT &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>target_feature</em>, </td>
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          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>key</em>&#160;</td>
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          <td>)</td>
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<p>Provide a pointer to a cloud of feature descriptors associated with the target point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">target_feature</td><td>a cloud of feature descriptors associated with the target point cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">key</td><td>a string that uniquely identifies the feature </td></tr>
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<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key].reset (<span class="keyword">new</span> FeatureContainer&lt;FeatureT&gt;);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">setTargetFeature</a> (target_feature);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a55588e97f86b8fc175db8e06680c747b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature</a></div><div class="ttdeci">void setTargetFeature(const typename pcl::PointCloud&lt; FeatureT &gt;::ConstPtr &amp;target_feature, const std::string &amp;key)</div><div class="ttdoc">Provide a pointer to a cloud of feature descriptors associated with the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:65</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="correspondence__rejection__features_8h_source.html">correspondence_rejection_features.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="correspondence__rejection__features_8hpp_source.html">correspondence_rejection_features.hpp</a></li>
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